version: 66.06
glider: 146
mission: 6
dive: 159
start: 5 30 111 10 47 3
data:
$ID,146
$MISSION,6
$DIVE,159
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-271344.56
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,103955,2246.723,-15802.511,41,1.5,41,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.1
$GPS2,104607,2246.743,-15802.534,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.009,0.235
$KALMAN_X,-86387.9,190.3,48.8,76347.7,-380.8
$KALMAN_Y,-134119.2,-299.6,-363.6,140046.7,-146.8
$MHEAD_RNG_PITCHd_Wd,352.1,6084,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.43,0.000,2,0.000,0.000,476,1751,3141,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.2,-5.4,9,116,12.52,0.00,-6.53,0.000,6,0.160,0.000,2820,1751,3480,0,0,0,0,0,0
$GC,391,-1.23,-116.8,69.1,-20.0,42,400,0.20,0.00,0.00,0.000,6,0.121,0.000,2860,1751,3482,0,0,0,0,0,0
$GC,656,-1.19,-116.8,109.9,-15.1,67,661,0.00,2.47,0.00,0.000,4,0.000,0.028,2860,3330,3483,0,0,0,0,0,0
$GC,736,-1.19,-116.8,121.2,-13.6,73,740,0.00,2.45,0.00,0.000,6,0.000,0.031,2860,1775,3483,0,0,0,0,0,0
$GC,1004,-1.19,-116.8,155.9,-13.6,97,1009,0.00,2.67,0.00,0.000,4,0.000,0.064,2860,199,3484,0,0,0,0,0,0
$GC,1060,-1.19,-116.8,164.7,-12.9,101,1066,0.00,2.35,0.00,0.000,6,0.000,0.015,2860,1782,3484,0,0,0,0,0,0
$GC,1323,-1.19,-116.8,195.6,-11.2,126,1327,0.00,2.40,0.00,0.000,4,0.000,0.032,2860,3308,3485,0,0,0,0,0,0
$GC,1364,-1.25,-116.8,199.9,-11.0,129,1368,0.00,2.45,0.00,0.000,6,0.000,0.028,2860,1761,3485,0,0,0,0,0,0
$GC,1614,-1.25,-116.8,226.0,-10.2,135,1618,0.00,2.70,0.00,0.000,4,0.000,0.075,2860,196,3485,0,0,0,0,0,0
$GC,1646,-1.25,-116.8,229.8,-11.6,135,1652,0.00,2.35,0.00,0.000,6,0.000,0.022,2860,1744,3485,0,0,0,0,0,0
$GC,1897,-1.25,-116.8,258.2,-11.4,142,1902,0.00,2.53,0.00,0.000,4,0.000,0.035,2860,3326,3484,0,0,0,0,0,0
$GC,1947,-1.33,-116.8,264.1,-11.3,143,1952,0.00,2.47,0.00,0.000,6,0.000,0.035,2860,1779,3484,0,0,0,0,0,0
$GC,2220,-1.39,-116.8,292.4,-9.9,150,2225,0.15,2.50,0.00,0.000,4,0.064,0.038,2809,3326,3485,0,0,0,0,0,0
$GC,2265,-1.39,-116.8,297.3,-11.0,151,2270,0.00,2.53,0.00,0.000,6,0.000,0.035,2809,1784,3484,0,0,0,0,0,0
$GC,2543,-1.39,-116.8,329.3,-11.6,158,2547,0.00,2.47,0.00,0.000,4,0.000,0.033,2809,3329,3484,0,0,0,0,0,0
$GC,2570,-1.39,-116.8,332.8,-12.1,158,2575,0.00,2.55,0.00,0.000,6,0.000,0.047,2809,1785,3484,0,0,0,0,0,0
$GC,2822,-1.39,-116.8,362.8,-12.0,164,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1785,3483,0,0,0,0,0,0
$GC,3064,-1.39,-116.8,391.7,-11.7,170,3068,0.00,2.50,0.00,0.000,4,0.000,0.041,2809,3321,3481,0,0,0,0,0,0
$GC,3103,-1.39,-116.8,396.2,-11.9,171,3107,0.00,2.60,0.00,0.000,6,0.000,0.056,2809,1792,3482,0,0,0,0,0,0
$GC,3387,-1.39,-116.8,428.5,-11.4,178,3391,0.00,2.50,0.00,0.000,4,0.000,0.050,2809,3317,3480,0,0,0,0,0,0
$GC,3413,-1.39,-116.8,432.0,-11.7,178,3418,0.00,2.58,0.00,0.000,6,0.000,0.057,2809,1800,3480,0,0,0,0,0,0
$GC,3663,-1.39,-116.8,459.6,-10.9,184,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1800,3479,0,0,0,0,0,0
$GC,3907,-1.39,-116.8,485.1,-10.4,190,3911,0.00,2.53,0.00,0.000,4,0.000,0.054,2809,3313,3477,0,0,0,0,0,0
$GC,3947,-1.39,-116.8,489.3,-10.7,191,3952,0.00,2.60,0.00,0.000,6,0.000,0.066,2809,1806,3477,0,0,0,0,0,0
$STATE,4066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4066,begin apogee
$GC,4072,-0.31,0.0,501.8,10.1,194,4172,1.12,0.00,96.78,0.923,6,0.088,0.000,3058,1958,3001,0,0,0,0,0,0
$STATE,4173,end apogee,CONTROL_FINISHED_OK
$STATE,4173,begin climb
$GC,4177,1.38,116.8,504.5,0.0,196,4281,1.58,0.00,99.10,0.904,6,0.051,0.000,3429,1958,2524,0,0,0,0,0,0
$GC,4504,1.39,157.2,486.7,7.7,204,4545,0.00,2.72,34.20,0.880,4,0.000,0.055,3428,3527,2359,0,0,0,0,0,0
$GC,4674,1.40,166.5,471.3,9.5,207,4688,0.00,2.60,9.12,0.771,6,0.000,0.051,3429,1995,2321,0,0,0,0,0,0
$GC,4967,1.43,191.0,445.3,8.6,215,4991,0.00,0.00,22.20,0.857,6,0.000,0.000,3428,1995,2222,0,0,0,0,0,0
$GC,5212,1.45,208.7,423.5,9.0,221,5236,0.00,3.10,16.48,0.830,4,0.000,0.097,3429,380,2148,0,0,0,0,0,0
$GC,5247,1.45,208.7,419.8,10.4,221,5253,0.00,2.62,0.00,0.000,6,0.000,0.025,3428,1981,2146,0,0,0,0,0,0
$GC,5498,1.47,224.4,396.5,9.1,228,5517,0.00,2.67,14.40,0.811,4,0.000,0.047,3428,3555,2085,0,0,0,0,0,0
$GC,5563,1.47,224.4,390.0,10.3,229,5568,0.00,2.62,0.00,0.000,6,0.000,0.038,3428,1993,2083,0,0,0,0,0,0
$GC,5818,1.49,237.9,366.1,9.3,236,5833,0.10,0.00,12.73,0.790,6,0.099,0.000,3455,1993,2031,0,0,0,0,0,0
$GC,6061,1.49,237.9,339.3,11.2,242,6066,0.00,2.55,0.00,0.000,4,0.000,0.040,3454,3556,2026,0,0,0,0,0,0
$GC,6078,1.49,237.9,337.3,11.5,242,6083,0.00,2.55,0.00,0.000,6,0.000,0.035,3454,2001,2025,0,0,0,0,0,0
$GC,6339,1.49,237.9,307.6,11.4,249,6343,0.00,2.53,0.00,0.000,4,0.000,0.038,3454,3552,2025,0,0,0,0,0,0
$GC,6382,1.49,237.9,302.5,11.6,250,6386,0.00,2.50,0.00,0.000,6,0.000,0.039,3454,2016,2024,0,0,0,0,0,0
$GC,6662,1.49,237.9,272.9,10.3,257,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2016,2023,0,0,0,0,0,0
$GC,6904,1.49,240.0,248.7,9.9,263,6908,0.00,2.50,0.00,0.000,4,0.000,0.039,3455,3549,2022,0,0,0,0,0,0
$GC,6959,1.49,240.0,242.5,11.1,264,6964,0.00,2.47,0.00,0.000,6,0.000,0.031,3454,2019,2021,0,0,0,0,0,0
$GC,7228,1.49,240.0,214.3,10.8,271,7232,0.00,2.78,0.00,0.000,4,0.000,0.067,3454,388,2022,0,0,0,0,0,0
$GC,7302,1.49,240.0,205.6,12.0,272,7306,0.00,2.55,0.00,0.000,6,0.000,0.022,3454,2027,2020,0,0,0,0,0,0
$GC,7559,1.50,249.2,180.5,9.5,290,7571,0.00,0.00,9.57,0.642,6,0.000,0.000,3454,2029,1985,0,0,0,0,0,0
$GC,7826,1.51,257.3,155.2,9.6,315,7841,0.00,2.80,8.85,0.609,4,0.000,0.059,3454,389,1950,0,0,0,0,0,0
$GC,7868,1.51,257.3,150.5,11.3,318,7877,0.00,2.60,0.00,0.000,6,0.000,0.018,3455,2032,1950,0,0,0,0,0,0
$GC,8137,1.53,268.9,124.3,9.4,343,8155,0.00,0.00,11.52,0.604,6,0.000,0.000,3455,2033,1903,0,0,0,0,0,0
$GC,8413,1.54,283.6,97.7,9.2,369,8436,0.00,0.00,14.07,0.593,6,0.000,0.000,3454,2033,1843,0,0,0,0,0,0
$GC,8695,1.61,299.5,71.9,9.1,395,8723,0.10,2.53,14.70,0.568,4,0.087,0.030,3486,3552,1778,0,0,0,0,0,0
$GC,8765,1.61,299.5,64.5,10.2,400,8775,0.00,2.55,0.00,0.000,6,0.000,0.036,3486,2000,1778,0,0,0,0,0,0
$GC,9033,1.61,299.5,35.9,12.3,425,9037,0.00,2.70,0.00,0.000,4,0.000,0.061,3486,385,1777,0,0,0,0,0,0
$GC,9096,1.61,299.5,27.8,12.4,430,9105,0.00,2.58,0.00,0.000,6,0.000,0.018,3486,2031,1776,0,0,0,0,0,0
$STATE,9297,end climb,SURFACE_DEPTH_REACHED
$STATE,9297,begin surface coast
$FINISH,0.7,0.980097
$STATE,9339,end surface coast,CONTROL_FINISHED_OK
$STATE,9339,begin surface
$SM_CCo,9361,82.60,0.533,0,0,1368,400.08
$SM_GC,1.35,0.00,0.00,82.60,0.000,0.000,0.533,475,1762,1368,-12.22,-0.23,400.08
$IRIDIUM_FIX,2237.01,-15800.20,230800,080832
$TT8_MAMPS,0.026078
$HUMID,57.28
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,40
$24V_AH,23.5,20.020
$10V_AH,10.4,17.314
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.000,103.375,363.725,82.600,0.000,29.607,33.003,182.058,10.000,0.000,12.052,934.320,6122.550,529.257,1736.427,498.722,33.392,1181.550,0.000,1743.565,0.000,0.534,0.000
$DEVICE_MAMPS,160.303,118.118,923.468,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.607,258.863,357.980,674.224,1019.687,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38385,466
$CAP_FILE_SIZE,93834,0
$CFSIZE,260165632,173973504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300511,132558,2247.755,-15803.049,30,6.1,49,10.1